CN114366563B - Parallel ankle rehabilitation robot system based on machine vision - Google Patents
Parallel ankle rehabilitation robot system based on machine vision Download PDFInfo
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- CN114366563B CN114366563B CN202210051061.5A CN202210051061A CN114366563B CN 114366563 B CN114366563 B CN 114366563B CN 202210051061 A CN202210051061 A CN 202210051061A CN 114366563 B CN114366563 B CN 114366563B
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- 210000003423 ankle Anatomy 0.000 title claims abstract description 56
- 238000010801 machine learning Methods 0.000 claims abstract description 16
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 14
- 230000000007 visual effect Effects 0.000 claims abstract description 13
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 12
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 238000004458 analytical method Methods 0.000 claims abstract description 7
- 210000002683 foot Anatomy 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 230000008859 change Effects 0.000 claims description 4
- 230000007547 defect Effects 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 claims description 2
- 238000005516 engineering process Methods 0.000 abstract description 4
- 241001227561 Valgus Species 0.000 abstract 2
- 241000469816 Varus Species 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 12
- 230000036544 posture Effects 0.000 description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 238000013473 artificial intelligence Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 239000000741 silica gel Substances 0.000 description 3
- 229910002027 silica gel Inorganic materials 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 206010061225 Limb injury Diseases 0.000 description 1
- 238000007405 data analysis Methods 0.000 description 1
- 230000003503 early effect Effects 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5007—Control means thereof computer controlled
- A61H2201/501—Control means thereof computer controlled connected to external computer devices or networks
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5023—Interfaces to the user
- A61H2201/5043—Displays
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
Abstract
The utility model provides a parallelly connected ankle rehabilitation robot system based on machine vision, its includes computer analysis system, visual identification device, parallelly connected ankle rehabilitation robot and robot control cabinet, parallelly connected ankle rehabilitation robot includes base, workstation, support and four drive branched chains that the structure is the same, constitutes a space parallel mechanism with three degrees of freedom of rotation jointly, can satisfy the three kinds of movements of dorsad stretch/plantar flexion, varus/valgus, internal rotation/valgus of ankle joint in the rehabilitation process, and this system utilizes visual identification device and force sensing device to gather data, and after the data is analyzed, makes suitable rehabilitation scheme, converts it into the electrical signal form, carries out via the parallel ankle rehabilitation robot of control cabinet control. The invention combines intelligent sensing technology of machine vision and machine learning, has good mechanism stability and convenient operation, and can adjust and optimize the rehabilitation scheme according to vision acquisition and force feedback data, so that the rehabilitation scheme has pertinence and task adaptability.
Description
Technical Field
The invention relates to the field of parallel robots, in particular to a parallel ankle rehabilitation robot system based on machine vision.
Background
With the rapid development of the modern industrial level, the artificial intelligence era has come fully, and artificial intelligence machines which are visible everywhere in our life are helping people to perform heavy, repetitive, fragmented and dangerous work. The machine vision technology serving as an artificial intelligent eye is also an important branch of rapid development of the artificial intelligent technology, details which are difficult to observe by human eyes can be captured on a pixel level through machine vision identification, and an image is converted into data by utilizing algorithm analysis, so that the image is expressed in a more accurate mode, and based on the characteristics of the machine vision, the machine vision is widely applied to the aspects of intelligent medical treatment, intelligent agriculture, intelligent home and the like, wherein the machine vision can accurately judge symptoms by matching with powerful data analysis of a computer in the early effect in the intelligent medical field, and find the best scheme of treatment.
The parallel robot really draws the wide attention of people in recent years, wherein the Delta parallel robot is widely known, and is widely applied to sorting of electronic products, grabbing of foods and loading and unloading of machine tools, and the parallel robot benefits from the characteristics of high positioning precision, high moving speed, stable structure and the like.
The ankle joint is an important movable joint of a human body and is responsible for daily movement and bearing of the human body, however, in lower limb injury, the injury rate of the ankle joint is as high as the second, clinical treatment research shows that the rehabilitation treatment on the injured ankle joint in the rehabilitation period can enable the injured ankle joint to heal more quickly and prevent secondary injury, the currently used rehabilitation means mainly utilize artificial simulation of ankle joint movement, the cost of the rehabilitation means is high, the level requirements on a rehabilitee are high, the level of the rehabilitee in reality is often uneven, and a patient easily misses the optimal rehabilitation period when in rehabilitation, so that an accurate and stable ankle joint rehabilitation system is needed to provide rehabilitation treatment.
Disclosure of Invention
The invention aims to provide a parallel ankle rehabilitation robot system based on machine vision, which aims to solve the problems of low manual rehabilitation efficiency, high cost and high subjectivity in the ankle joint rehabilitation process existing at present.
The technical scheme of the invention for solving the problems is as follows: the utility model provides a parallelly connected ankle rehabilitation robot system based on machine vision, its includes computer analysis system, vision recognition device, parallelly connected ankle rehabilitation robot and robot control cabinet, robot system utilizes vision recognition device and force sensing device to gather the data, after the analysis, makes suitable rehabilitation treatment scheme, converts into the electrical signal form, carries out rehabilitation task via the control cabinet control parallelly connected ankle rehabilitation robot.
The visual recognition device can accurately recognize and capture the digital image and the change of the foot position and posture under the real scene, and under the passive rehabilitation mode, the visual recognition device cooperates with the computer system to convert the collected pixel signals into electric signals for controlling all branched chains of the parallel ankle rehabilitation robot through machine vision and machine learning, so that the workbench position and posture of the parallel ankle rehabilitation robot are synchronous with the foot position and posture in the recognized image.
The parallel ankle rehabilitation robot comprises a base, a workbench, four identical driving branched chains and a support, wherein the support is composed of a first U-shaped support, a second U-shaped support, an L-shaped support and an angle encoder, one end of the L-shaped support is fixed on the base, the other end of the L-shaped support is connected with the first U-shaped support to form a revolute pair, the tail ends of the first U-shaped support and the second U-shaped support are connected in pairs to form two revolute pairs, the angle encoder is arranged at the axis of the two revolute pairs, the second U-shaped support is connected with the bottom of the workbench to form a revolute pair, the intersection point of the rotation axes of the revolute pair coincides with the rotation center of the rehabilitation ankle joint, the four driving branched chains are fixedly connected with the workbench through a spherical hinge, the cross universal joint is connected with the base of the robot, the parts jointly form a space parallel mechanism with three rotation degrees, the parallel robot workbench comprises a pedal, a pressure sensor, a size adjusting slide block and a fixing plate, holes allowing the two sides of the pedal to pass through conveniently, the pressure sensor is fixed on the pedal, the pressure sensor is fixed with the sliding block, the collecting sliding block is connected with the bottom of the rotating shaft through the movable slide block through the size adjusting slide block, and the movable slide block is matched with the fixed pin through the fixed pin, and the movable pin.
The pressure sensor can collect pressure values of all parts of the sole in real time, the pressure sensor can be combined with the machine learning system to adjust the pose of the parallel ankle rehabilitation robot according to the force application points and the force application sizes of the pressure, meanwhile, the positions of the pressure points are recorded, the pose of the foot in the active rehabilitation process is collected by the matching and vision recognition device, the collected data are analyzed through the machine vision system and the machine learning system, and a targeted passive rehabilitation scheme can be further formulated according to the defects in the active rehabilitation process.
Compared with the prior art, the parallel ankle rehabilitation robot system based on machine vision has the following advantages: the artificial intelligence technology combining machine vision and machine learning can realize autonomous learning and autonomous adjustment according to the existing rehabilitation scheme image video and the data acquired by the system in the active recovery process of the patient; a more targeted recovery scheme can be formulated according to different patients and different recovery periods of the patients; in addition, the parallel rehabilitation mechanism has better rigidity and stability, can play a better role in supporting, has more reliable safety and quick response speed, can have better synchronous coordination with a machine vision system, has smaller accumulated error and can ensure the quality of rehabilitation and the precision of movement.
Drawings
FIG. 1 is a schematic diagram of the overall composition of a parallel ankle rehabilitation robot system based on machine vision according to the present invention;
FIG. 2 is a schematic diagram of a parallel ankle rehabilitation robot body of the parallel ankle rehabilitation robot system based on machine vision according to the present invention;
FIG. 3 is a schematic diagram of a workbench structure of a parallel ankle rehabilitation robot system based on machine vision according to the present invention;
FIG. 4 is a schematic diagram of a driving branched chain structure of a parallel ankle rehabilitation robot system based on machine vision according to the present invention;
FIG. 5 is a schematic diagram of a reduced branched structure of a parallel ankle rehabilitation robot system based on machine vision according to the present invention;
FIG. 6 is a schematic diagram of a size-adjusting slider of a parallel ankle rehabilitation robot system based on machine vision according to the present invention;
wherein:
in fig. 1: 1. a digital display screen; 2. a visual recognition device; 3. the ankle rehabilitation robot is connected in parallel; 4. a robot control cabinet;
in fig. 2: 310. a bracket; 320. a work table; 330. a branched chain; 340. a base;
in fig. 3: 321. a silica gel backing plate; 322. a fixing plate; 323. a pedal; 324. a strap hole; 325. a pressure sensor; 326. a size-adjusting slider;
in fig. 4: 331. spherical hinge; 332. an electric push rod; 333. a motor; 334. a cross universal joint;
in fig. 5: l-shaped brackets; 312. a first U-shaped bracket; 313. an angle encoder; 314. a second U-shaped bracket;
in fig. 6: 326-1, a rotating shaft; 326-2, rotating the rod; 326-3, adjusting the sliding block; 326-4, moving the sliding block;
Detailed Description
In order to further illustrate the present invention, it will be understood that the following description of specific embodiments is provided for illustration only and the scope of the invention is not limited to the embodiments.
Fig. 1 is a schematic diagram of the overall composition of a parallel ankle rehabilitation robot system based on machine vision, which comprises a computer analysis system, a visual recognition device 2, a parallel ankle rehabilitation robot 3 and a robot control cabinet 4, wherein the robot system collects data by using the visual recognition device 2 and a force sensing device, after analyzing the data, a proper rehabilitation scheme is made, the data is converted into an electric signal form, and the parallel ankle rehabilitation robot 3 is controlled by the control cabinet to execute rehabilitation tasks; the system has autonomous learning capability, can perform two rehabilitation modes of passive rehabilitation and active rehabilitation, under the passive rehabilitation mode, the visual recognition device 2 can accurately recognize and capture the change of foot postures in the digital display screen rehabilitation course, and the collaborative computer system converts the acquired pixel signals into electric signals for controlling all driving branched chains of the parallel ankle rehabilitation robot 3 through machine vision and machine learning, so that the workbench postures of the parallel ankle rehabilitation robot 3 are synchronous with ankle postures in the recognized images; the pressure sensor is arranged on the workbench of the parallel ankle rehabilitation robot 3 in the active rehabilitation mode, when a patient performs active rehabilitation according to a rehabilitation image course, the pressure sensor can collect pressure values of all parts of the sole in real time, the pressure sensor can be combined with the machine learning system to adjust the pose of the parallel ankle rehabilitation robot 3 according to the force application point and the force application size of pressure, meanwhile, the positions of the pressure point and the pressure point are recorded, the vision recognition device 2 is matched to collect the pose of the foot in the active rehabilitation process, the above data are analyzed through the machine vision system and the machine learning system, and a targeted passive rehabilitation scheme can be further formulated according to the defects in the active rehabilitation process.
Fig. 2 is a schematic structural diagram of a parallel ankle rehabilitation robot body according to the present invention, the parallel ankle rehabilitation robot includes a base 340, a workbench 320, four identical driving branched chains 330 and a bracket 310, the bracket is composed of a first U-shaped bracket 312, a second U-shaped bracket 314, an L-shaped bracket 311 and an angle encoder 313, one end of the L-shaped bracket 311 is fixed on the base 320, the other end is connected with the first U-shaped bracket 312 to form a revolute pair, the first U-shaped bracket 312 and the tail end of the second U-shaped bracket 314 are connected two by two to form two revolute pairs, the two revolute pair axes are provided with the angle encoder 313, the second U-shaped bracket 314 is connected with the bottom of the workbench 320 to form a revolute pair, the intersection point of the rotation axes of the above revolute pair coincides with the rotation center of the recovered ankle joint, the four driving branched chains 330 are fixedly connected with the workbench 320 through a spherical hinge 331 and are connected with the robot base 340 through a cross universal joint 334, the above components together form a spatial parallel mechanism with three degrees of freedom, and can satisfy the back extension/plantar motion, the internal rotation/external rotation/three rotational rotation/inversion motion of the recovered ankle joint in the process.
Fig. 3 is a schematic diagram of a workbench structure of a parallel ankle rehabilitation robot system based on machine vision, the parallel robot workbench 320 comprises a pedal 323, a pressure sensor 325, a size adjusting slider 326, a fixed plate 322 and a silica gel pad 321, the silica gel pad 321 is fixed on one side of the pedal, friction between the heel of a patient and the pedal can be reduced, the fixed plate 322 is fixed at the bottom of the pedal 323, two ends of the fixed plate are fixedly connected with a branched chain ball hinge 321 through bolts, holes 324 which are convenient for a binding belt to pass through are arranged on two sides of the pedal 323, the length of the binding belt can be adjusted according to the size of the foot of the patient, the pressure sensor 325 is fixed on the pedal, pressure data are collected, when the patient performs active rehabilitation according to a rehabilitation image course, the pressure sensor 325 can collect pressure values of all parts of the sole in real time, the pressure sensor 325 can adjust the pose of the parallel ankle rehabilitation robot 3 according to the force application point and the force application size of pressure in combination with a machine learning system, meanwhile, the pressure and the position of the pressure point is recorded, training data are generated for the machine learning system, and data are provided for the next targeted passive rehabilitation training.
Fig. 4 is a schematic diagram of a driving branched chain structure of a parallel ankle rehabilitation robot system based on machine vision, wherein the branched chain is a UPS type branched chain, and is composed of a spherical hinge 331, an electric push rod 332, a motor 333 and a cross universal joint 334, a moving pair of the electric push rod 332 is used as a driving unit of the branched chain, the motor 333 is used as a power source of the electric push rod, and the branched chain 330 is fixedly connected with a workbench 320 through the spherical hinge 331 and is connected with a robot base 340 through the cross universal joint 334.
Fig. 5 is a schematic diagram of a reduced branched chain structure of a parallel ankle rehabilitation robot system based on machine vision, the branched chain is composed of a first U-shaped bracket 312, a second U-shaped bracket 314, an L-shaped bracket 311 and an angle encoder 313, one end of the L-shaped bracket 311 is fixed on a base 340, the other end of the L-shaped bracket is connected with the first U-shaped bracket 312 to form a revolute pair, the first U-shaped bracket 312 and the tail end of the second U-shaped bracket 314 are connected in pairs to form two revolute pairs, the angle encoder 313 is arranged at the axes of the two revolute pairs, the second U-shaped bracket 314 is connected with the bottom of a workbench 320 to form a revolute pair, the intersection point of the axes of the revolute pairs coincides with the rotation center of the rehabilitation ankle joint, and the parallel mechanism is in accordance with ergonomics, and is a spatial three-rotation-freedom parallel mechanism due to the limitation of the branched chain, so that three movements of an ankle joint in a rehabilitation process can be satisfied.
FIG. 6 is a schematic diagram of a size adjusting slide block structure of a parallel ankle rehabilitation robot system based on machine vision, wherein the size adjusting slide block 326 comprises a rotating shaft 326-1, a rotating rod 326-2, an adjusting slide block 326-3 and a moving slide block 326-4, one end of the rotating rod 326-2 is connected with a pedal 323 through the rotating shaft 326-1, the adjusting slide block 326-3 is connected with the rotating rod 326-2 and the moving slide block 326-4, the adjusting slide block 326-3 is provided with a positioning hole matched with the moving slide block 326-4, and the adjusting slide block is fixed by a blocking needle when being adjusted to a proper size.
The system has autonomous learning capability, can perform two rehabilitation modes of passive rehabilitation and active rehabilitation, under the passive rehabilitation mode, a patient fixes feet on a workbench of the parallel ankle rehabilitation robot, the visual recognition device 2 can accurately recognize and capture the change of foot pose in a digital display screen rehabilitation course, and the acquired pixel signals are converted into electric signals for controlling all driving branched chains of the parallel ankle rehabilitation robot 3 through machine vision and machine learning by a collaborative computer system, so that the workbench pose of the parallel ankle rehabilitation robot 3 is synchronous with the ankle pose in the recognized image. The pressure sensor is arranged on the workbench of the parallel ankle rehabilitation robot 3 in the active rehabilitation mode, when a patient performs active rehabilitation according to a rehabilitation image course, the pressure sensor can collect pressure values of all parts of the sole in real time, the pressure sensor can be combined with the machine learning system to adjust the pose of the parallel ankle rehabilitation robot 3 according to the force application point and the force application size of pressure, meanwhile, the positions of the pressure points are recorded, the vision recognition device 2 is matched to collect the pose of the ankle in the active rehabilitation process, the data are analyzed through the machine vision system and the machine learning system, and a targeted passive rehabilitation scheme can be further formulated according to the defects in the active rehabilitation process.
The above-mentioned embodiments are only a preferred embodiment of the parallel ankle rehabilitation robot system based on machine vision, and the scope of the invention is not limited to the above-mentioned embodiments, and all the embodiments belong to the technical scheme under the concept of the invention.
Claims (3)
1. The parallel ankle rehabilitation robot system based on machine vision comprises a computer analysis system, a visual recognition device, a parallel ankle rehabilitation robot and a robot control cabinet, wherein the robot system collects data by utilizing the visual recognition device and a force sensing device, after analysis, a proper rehabilitation scheme is prepared, the data are converted into an electric signal form, the parallel ankle rehabilitation robot is controlled by the control cabinet to execute a rehabilitation task, the parallel ankle rehabilitation robot comprises a base, a workbench, four identical driving branched chains and a bracket, the bracket consists of a first U-shaped bracket, a second U-shaped bracket, an L-shaped bracket and an angle encoder, one end of the L-shaped bracket is fixed on the base, the other end of the L-shaped bracket is connected with the first U-shaped bracket to form a revolute pair, the tail ends of the first U-shaped bracket and the second U-shaped bracket are connected in pairs to form two revolute pairs, the two revolute pair axes are provided with angle encoders, the second U-shaped bracket is connected with the bottom of the workbench to form a revolute pair, the intersection point of the rotating axes of the revolute pair coincides with the rotation center of the recovered ankle joint, the four driving branched chains accord with the ergonomics, the four driving branched chains are fixedly connected with the workbench through spherical hinges and are connected with the robot base through cross universal joints, the parts jointly form a space parallel mechanism with three degrees of freedom of rotation, the parallel robot workbench comprises a pedal, a pressure sensor, a size adjusting slide block and a fixed plate, one end of the pedal is provided with a heel supporting plate, two sides of the pedal are provided with holes convenient for binding belts to pass through, the pressure sensor is fixed on the pedal to collect pressure data, the size adjusting slide block comprises a rotating rod, an adjusting slide block and a moving slide block, one end of the rotating rod is connected with the pedal through a rotating shaft, the adjusting slide block is connected with the rotating rod and the moving slide block, the adjusting slide block is provided with a positioning hole matched with the moving slide block, the adjusting slide block is adjusted to be fixed by a blocking needle in a proper size, the fixing plate is fixed at the bottom of the pedal, and two ends of the fixing plate are fixedly connected with the branched chain spherical hinge.
2. The machine vision based parallel ankle rehabilitation robot system according to claim 1, wherein: the visual recognition device can accurately recognize and capture the digital image and the change of the foot position and posture under the real scene, and under the passive rehabilitation mode, the visual recognition device cooperates with the computer system to convert the collected pixel signals into electric signals for controlling each branched chain of the parallel ankle rehabilitation robot through machine vision and machine learning, so that the workbench position and posture of the parallel ankle rehabilitation robot are synchronous with the foot position and posture in the recognized image.
3. The machine vision based parallel ankle rehabilitation robot system according to claim 1, wherein: the pressure sensor can collect the pressure value of each foot in real time, the pressure sensor can be combined with the machine learning system to adjust the pose of the parallel ankle rehabilitation robot according to the force application point and the force application size of the pressure, the positions of the pressure point and the pressure point are recorded at the same time, the vision recognition device is matched to collect the pose of the foot in the active rehabilitation process, the collected data is analyzed through the machine vision system and the machine learning system, and a targeted passive rehabilitation scheme can be further formulated according to the defects in the active rehabilitation process.
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| CN202210051061.5A CN114366563B (en) | 2022-01-17 | 2022-01-17 | Parallel ankle rehabilitation robot system based on machine vision |
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| CN114366563B true CN114366563B (en) | 2023-12-22 |
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| CN105125380A (en) * | 2015-09-28 | 2015-12-09 | 北京工业大学 | Ankle rehabilitation device |
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| CN108888478A (en) * | 2018-08-01 | 2018-11-27 | 郑州大学 | A kind of upper limb rehabilitation robot based on binocular vision |
| CN110840707A (en) * | 2019-12-13 | 2020-02-28 | 福州大学 | Ankle joint rehabilitation robot structure and using method thereof |
-
2022
- 2022-01-17 CN CN202210051061.5A patent/CN114366563B/en active Active
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09120464A (en) * | 1995-08-21 | 1997-05-06 | Matsushita Electric Ind Co Ltd | Rehabilitation support device |
| JP2015146942A (en) * | 2014-02-07 | 2015-08-20 | オージー技研株式会社 | muscle strengthening system |
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